Robots Inside

#ardupilot   #sitl   #plugin   #gazebo   #garden  

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Table of Content

Ardupilot SITL with Gazebo simulator

Objective

Run Ardupilot (copter) SITL and gazebo simulation

• Gazebo garden
• ardupilot_gazebo (plugin)
• MAVProxy

ardupilot_gazebo

# Clone ardupilot_gazebo repository
# git subfolder

mkdir ~/git
cd git
# git clone -b <branchname> <remote-repo-url>
git clone https://github.com/ArduPilot/ardupilot_gazebo.git

Install

more

sudo apt update
sudo apt install libgz-sim7-dev rapidjson-dev

cd aurdupilot_gazebo
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4

Run

terminal1

export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/git/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}
export GZ_SIM_RESOURCE_PATH=$HOME/git/ardupilot_gazebo/models:$HOME/git/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}

# note remove sky tag from sdf
gz sim -v 4 -r iris_runway.sdf

-r: run simulation on start -v 4: verbose mode

SITL

sim_vehicle

sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console

Manual

terminal2 - run SITL

./arducopter -S --model JSON \
--speedup 1 \
--defaults copter.parm,gazebo-iris.parm \
-I0

MAVProxy

mavproxy

mavproxy.py --master tcp:127.0.0.1:5760

# Arm and takeoff
mode guided
arm throttle
takeoff 5

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Basic Worlds and models

iris_with_ardupilot	iris_with_standoff, liftdrag and ardupilot plugins
iris_with_gimbal	iris_with_standoff, gimbal_small_2d, liftdrag and ardupilot plugins
gimbal_small_2d	Camera sensor declare on tilt_link

Note

In my computer the sky flickering so i comments them

<scene>
  <ambient>1.0 1.0 1.0</ambient>
  <background>0.8 0.8 0.8</background>
  <!-- <sky></sky> -->
</scene>

Note

Change model to iris_with_gimbal

<include>
  <uri>model://iris_with_gimbal</uri>
  <pose degrees="true">0 0 0 0 0 90</pose>
</include>

by default camera topic name generate by sensor location

/world/iris_runway/model/iris_with_gimbal/model/gimbal/link/tilt_link/sensor/camera/image

Reference

• ardupilot_gazebo
• SITL Models